Planner system recovery for autonomous vehicles
AssigneeWaymo LLC
InventorIoan-Alexandru Sucan
Life of this patent
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Abstract
Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode using trajectories. For instance, a trajectory may be received by one or more first computing devices from one or more second computing devices. While the first computing devices are controlling the vehicle in the autonomous driving mode based on the trajectory, an error may be generated by second computing devices. Whether the error is a recoverable error may be determined, and if so, the second computing devices attempt to generate a new trajectory. When the second computing devices generate the new trajectory, the vehicle may be controlled by the first computing devices according to the new trajectory.
Claims20
A control system for controlling a vehicle in an autonomous driving mode using trajectories, the control system comprising:
- one or more first computing devices of the vehicle configured to control the vehicle in the autonomous driving mode to follow at least a portion of a current trajectory;
- and
- a planner system of the vehicle, the planner system including one or more second computing devices configured to provide the current trajectory to the one or more first computing devices,
- wherein the one or more second computing devices are further configured to provide a new trajectory to the one or more first computing devices within a predetermined period of time after an error is detected by the one or more second computing devices, and
- wherein the one or more first computing devices are further configured to control the vehicle in the autonomous driving mode to stop following the current trajectory and start following the new trajectory.
A method for controlling a vehicle in an autonomous driving mode using trajectories, the method comprising:
- controlling, by one or more first computing devices of the vehicle, the vehicle in the autonomous driving mode to follow at least a portion of a current trajectory;
- and
- providing, by one or more second computing devices of a planner system of the vehicle, the current trajectory to the one or more first computing devices,
- providing, by the one or more second computing devices, a new trajectory to the one or more first computing devices within a predetermined period of time after an error is detected by the one or more second computing devices, and
- controlling, by the one or more first computing devices, the vehicle in the autonomous driving mode to stop following the current trajectory and start following the new trajectory.
A control system for controlling a vehicle in an autonomous driving mode using trajectories, the control system comprising:
- one or more first computing devices of the vehicle configured to:
- generate a first trajectory;
- generate an error message identifying a recoverable error;
- and
- generate a second trajectory within a predetermined period of time after the error message is generated in order to avoid having the vehicle stop or pull over because the one or more first computing devices cannot timely provide a new trajectory while recovering from an error;
- and
- a planner system of the vehicle, the planner system including one or more second computing devices configured to:
- receive the first trajectory from the one or more first computing devices;
- and
- control the vehicle in the autonomous driving mode to follow at least a portion of the first trajectory.
Dependencies are inferred from the claim text.